We are developing a class of robotic trusses that are capable of activley changing their shape. In  we introduce an truss robot that is composed primarily of inflated fabric tubes, and is capable of locomotion and object manipulation.
We have also developed control algorithms for truss robots. In  we derive the differential kinematics of such robots, and formalize concepts of controllability based on graph rigidity. Control methods are then developed for two separate applications: locomotion and shape morphing. The control algorithm in both cases solves a series of linearly constrained quadratic programs at each time step to minimize an objective function while ensuring physical feasibility. We present simulation results for both locomotion along a prescribed path, and morphing to a target shape.
 N. S. Usevitch*, Z. M. Hammond*, M. Schwager, A. M. Okamura, E. W. Hawkes+, S. Follmer+, An untethered isoperimetric soft robot. Science Robotics. 4, 2020. DOI: 10.1126/scirobotics.aaz0492
 N. S. Usevitch, Z. M. Hammond, S. Follmer, M. Schwager. Linear Actuator Robots: Differential Kinematics, Controllability, and Algorithms for Locomotion and Shape Morphing. In IEEE International Conference on Intelligent Robots and Systems, 2017.
*,+ These authors contributed equally.